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Commit 7d5f8a0d authored by Emilio Corigliano's avatar Emilio Corigliano
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[NAS] Updated comments on NASConfig

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......@@ -31,16 +31,16 @@ struct NASConfig
{
float T; ///< [s] Sample period
float SIGMA_BETA; ///< [rad/s^2] Estimated gyroscope bias variance
float SIGMA_W; ///< [rad^2] Estimated gyroscope variance
float SIGMA_ACC; ///< [uT^2] Estimated accelerometer variance
float SIGMA_MAG; ///< [uT^2] Estimated magnetometer variance
Eigen::Vector4f SIGMA_GPS; ///< [millideg^2, millideg^2, m^2/s^2, m^2/s^2]
float SIGMA_W; ///< [rad] Estimated gyroscope variance
float SIGMA_ACC; ///< [m/s^2] Estimated accelerometer variance
float SIGMA_MAG; ///< [uT] Estimated magnetometer variance
Eigen::Vector4f SIGMA_GPS; ///< [millideg, millideg, m/s, m/s]
///< estimated GPS variance. position from test,
///< velocity from datasheet
float SIGMA_BAR; ///< [Pa] Estimated altitude variance
float SIGMA_POS; ///< [m^2] Estimated variance of the position noise
float SIGMA_VEL; ///< [(m/s)^2] Estimated variance of the velocity noise
float SIGMA_PITOT; ///< [Pa^2] Estimated variance of the pitot velocity
float SIGMA_POS; ///< [m] Estimated variance of the position noise
float SIGMA_VEL; ///< [m/s] Estimated variance of the velocity noise
float SIGMA_PITOT; ///< [Pa] Estimated variance of the pitot velocity
float P_POS; ///< Position prediction covariance horizontal
float P_POS_VERTICAL; ///< Position prediction covariance vertical
......
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